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James J. Joob [1] ; Camden L. Ives [2] ; David H. Myszka [2] [1] Aerospace Systems Directorate, Air Force Research Laboratory, Wright Patterson AFB, OH, USA [2] University of Dayton, Dayton, OH, USA Localización: Mechanics based design of structures and machines, ISSN 1539-7734, Vol. 52, Nº. 6, 2024, págs.
1. Introduction Kinematic synthesis of linkages is a process to determine the arrangement of links, and their corresponding dimensions, to achieve a desired motion. Rigid-body guidance is a category of kinematic synthesis that is concerned with placing a link in a specified set of task positions. The task positions include the location and orientation of the link at various positions of the desired linkage movement.
This work seeks to systematically model and solve the equations associated with the kinematics of spherical mechanisms. The group of special unitary matrices, SU(2), is utilized throughout. Elements of SU(2) are employed here to analyze the three-roll wrist and the spherical Watt I linkage. Additionally, the five orientation synthesis of a spherical four-bar mechanism is solved, and solutions are found for the eight orientation synthesis of the Watt I linkage.
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